Bidirectional air conveyor device for material sorting and other applications

ABSTRACT

A bidirectional air conveyor device is disclosed, including: a housing that includes an intake port and an outlet port; a first air input port; a first airflow generator defined within the housing, wherein the first airflow generator is coupled to the first air input port; a second air input port; a second airflow generator defined within the housing, wherein the second airflow generator is coupled to the second air input port; wherein the first airflow generator is configured to cause a first airflow to enter the intake port and exit the outlet port in response to a first supply of air to the first air input port; and wherein the second airflow generator is configured to cause a second airflow to enter the outlet port and exit the intake port in response to a second supply of air to the second air input port.

CROSS REFERENCE TO OTHER APPLICATIONS

This application is a continuation of U.S. Pat. Application No.17/122,917, entitled BIDIRECTIONAL AIR CONVEYOR DEVICE FOR MATERIALSORTING AND OTHER APPLICATIONS filed Dec. 15, 2020 which is incorporatedherein by reference for all purposes, which claims priority to U.S.Provisional Pat. Application No. 62/948,401 entitled SYSTEMS AND METHODSFOR A BIDIRECTIONAL AIR CONVEYOR FOR MATERIAL SORTING AND OTHERAPPLICATIONS filed Dec. 16, 2019 which is incorporated herein byreference for all purposes.

BACKGROUND OF THE INVENTION

Within many industrial facilities, objects are transported on conveyorbelts from one location to another. Often a conveyor belt will carry anunsorted mixture of various objects and materials. Within recycling andwaste management facilities for example, some of the conveyed objectsmay be considered desirable (e.g., valuable) materials while others maybe considered undesirable contaminants. For example, the random andunsorted contents of a collection truck may be unloaded at the facilityonto a conveyor belt. Although sorting personnel may be stationed tomanually sort materials as it is transported on the belt, the use ofsorting personnel is limiting because they can vary in their speed,accuracy, and efficiency and can suffer from fatigue over the period ofa shift. Human sorters also require specific working conditions,compensation, and belt speeds. Production time is lost to training themany new employees that enter as sorters, and operation costs increaseas injuries and accidents occur.

For the reasons stated above and for other reasons stated below whichwill become apparent to those skilled in the art upon reading andunderstanding the specification, there is a need in the art for vacuumextraction for material sorting applications.

BRIEF DESCRIPTION OF THE DRAWINGS

Various embodiments of the invention are disclosed in the followingdetailed description and the accompanying drawings.

Embodiments of the present disclosure can be more easily understood andfurther advantages and uses thereof more readily apparent, whenconsidered in view of the description of the preferred embodiments andthe following figures in which:

FIG. 1 is a diagram illustrating material sorting system 10 inaccordance with some embodiments.

FIG. 1A is a diagram illustrating an example sorting control logic andelectronics in accordance with some embodiments.

FIGS. 1B and 1C are diagrams illustrating alternate bidirectional airconveyor device arrangements for example vacuum extraction assemblies inaccordance with some embodiments.

FIG. 2 is a diagram illustrating an example bidirectional air conveyordevice in accordance with some embodiments.

FIG. 3 illustrates an interconnection of an example pneumatic controlsystem in accordance with some embodiments.

FIGS. 4, 4A, 4B, 4C and 4D are cross-sectional diagrams illustrating abidirectional air conveyor device in accordance with some embodiments.

FIG. 5 is a flow diagram showing an embodiment of a process for using abidirectional air conveyor device to perform a capture action on atarget object.

FIG. 6 is a flow diagram showing an example of a process for using abidirectional air conveyor device to perform a capture action on atarget object.

In accordance with common practice, the various described features arenot drawn to scale but are drawn to emphasize features relevant to thepresent disclosure. Reference characters denote like elements throughoutfigures and text.

DETAILED DESCRIPTION

The invention can be implemented in numerous ways, including as aprocess; an apparatus; a system; a composition of matter; a computerprogram product embodied on a computer readable storage medium; and/or aprocessor, such as a processor configured to execute instructions storedon and/or provided by a memory coupled to the processor. In thisspecification, these implementations, or any other form that theinvention may take, may be referred to as techniques. In general, theorder of the steps of disclosed processes may be altered within thescope of the invention. Unless stated otherwise, a component such as aprocessor or a memory described as being configured to perform a taskmay be implemented as a general component that is temporarily configuredto perform the task at a given time or a specific component that ismanufactured to perform the task. As used herein, the term ‘processor’refers to one or more devices, circuits, and/or processing coresconfigured to process data, such as computer program instructions.

A detailed description of one or more embodiments of the invention isprovided below along with accompanying figures that illustrate theprinciples of the invention. The invention is described in connectionwith such embodiments, but the invention is not limited to anyembodiment. The scope of the invention is limited only by the claims andthe invention encompasses numerous alternatives, modifications andequivalents. Numerous specific details are set forth in the followingdescription in order to provide a thorough understanding of theinvention. These details are provided for the purpose of example and theinvention may be practiced according to the claims without some or allof these specific details. For the purpose of clarity, technicalmaterial that is known in the technical fields related to the inventionhas not been described in detail so that the invention is notunnecessarily obscured.

In the following detailed description, reference is made to theaccompanying drawings that form a part hereof, and in which is shown byway of specific illustrative embodiments in which the embodiments may bepracticed. These embodiments are described in sufficient detail toenable those skilled in the art to practice the embodiments, and it isto be understood that other embodiments may be utilized and thatlogical, mechanical, and electrical changes may be made withoutdeparting from the scope of the present disclosure. The followingdetailed description is, therefore, not to be taken in a limiting sense.

The introduction of sorting systems (such as robotic systems, forexample) for sorting materials has led to increased productivity anddecreased contamination for Material Recovery Facilities (MRFs). Robotsand similar systems have been utilized as a viable replacement, orsupplement, for human sorters due to their speed, reliability, anddurability. The objective of sorting systems is to recover the specifictarget material(s) and eject them into bunkers without introducing othermaterials (contaminants) into the sorted bunkers. A common techniqueused by these sorting systems to grasp target materials involves the useof a suction gripper. A suction cup gripper connected to a pneumaticsystem would generate a substantial suction force to grasp targetedobjects. Application of the suction force may be curtailed once theobject is picked up from the conveyor belt to direct the item into theproper collection bunker. Alternatively or in addition, the air forcefor a suction gripper may instead operate as an air conveyor thatutilizes a vacuum force to pull the target object completely through thegripper housing into a ductwork or similar system that directs thetarget object to the proper collection bunker.

One issue that affects air conveyors is that when an object is captured(whether it is a target object that is intended to be captured and/or anon-target object that is inadvertently captured), it can become lodgedat the input port or within the housing of the air conveyor. Forexample, a plastic bag identified as a target object can easily passthrough the air conveyor, but is located on the conveyor belt adjacentto a non-target rigid cardboard material such that when an airflow isapplied to the plastic bag by the air conveyor, both the bag and thecardboard are lifted from the conveyor belt causing a clog because theair conveyor is unable to pass the cardboard. The issue is compounded ifthe non-target material becomes lodged in the air conveyor, effectivelyplacing the air conveyor out of service and requiring a maintenancetechnician to manually remove the clog.

Embodiments of a bidirectional air conveyor for material sorting andother applications are described herein. An input signal is receivedfrom an object recognition device. In some embodiments, the objectrecognition device comprises one or more sensors. For example, a sensorcomprises an image capturing device (such as, for example, an infraredcamera, visual spectrum camera, non-visible electromagnetic radiationsensor, volumetric sensor, or some combination thereof). In someembodiments, the input signal comprises sensed data (e.g., one or moreimages) of the objects that are being transported by a conveyor device.The input signal is used to determine attribute information associatedwith a target object (e.g., on the conveyor mechanism). Based onattribute information associated with the target object, an airflowcontrol signal is sent to a pneumatic control system. The airflowcontrol signal is configured to cause the pneumatic control system tosupply pressurized air to a bidirectional air conveyor device. Thebidirectional air conveyor device is configured to generate a negativepressure airflow using the pressurized air to vacuum the target objecttowards the bidirectional air conveyor device. In some embodiments, thetarget object is vacuumed through the hollow housing of thebidirectional air conveyor device (e.g., if the target object is smallenough to pass through the housing of the bidirectional air conveyordevice). In some embodiments, the target object is adhered to the intakeport of the bidirectional air conveyor device by the vacuum force (e.g.,if the target object is too large to enter the housing of thebidirectional air conveyor device).

As discussed below, a sorting system that includes a bidirectional airconveyor device as described herein can quickly and accurately removematerials from a moving conveyor mechanism in an efficient and effectivemanner. In some embodiments, an external control system and objectrecognition system may be utilized in combination with one or morebidirectional air conveyor devices to identify target objects, controlmaterial capture operations, and to activate ejection operations toprevent a material obstruction.

FIG. 1 is a diagram illustrating material sorting system 10 inaccordance with some embodiments. In system 10, material extractionassembly 100 is designed to retrieve objects along the width of movingconveyor mechanism 50, such as a conveyor belt, as depicted in FIG. 1 .Material identified for removal from conveyor mechanism 50 by materialextraction assembly 100 is referred to herein as “target objects.” Forexample, an object may be identified for removal if it is identified tobe a target material type. Although waste products travelling on aconveyor belt (e.g., conveyor mechanism 50) are used as example targetobjects in the example embodiments described herein, it should beunderstood that in alternate implementations of these embodiments, thetarget objects need not be waste materials but may comprise any type ofmaterial for which it may be desired to sort and/or segregate. Moreover,although a conveyor belt is used as an example conveyance mechanism fortransporting the target objects, it should be understood that inalternate implementations of these embodiments, other conveyancemechanisms may be employed. For example, for any of the embodimentsdescribed below, in place of an active conveyance mechanism such asconveyor belt, an alternate conveyance mechanism may comprise a chute,slide, or other passive conveyance mechanism through and/or from whichmaterial tumbles, falls, or otherwise is gravity fed as it passes by theimaging device. In some embodiments, conveyor mechanism 50 may includefeatures (shown at 51) that increase airflow available as intake intomaterial extraction assembly 100. For example, holes, cleats, treads, orother raised or recessed surface features in, or on, conveyor mechanism50 may be included in various alternative implementations.

In the example shown in FIG. 1 , material extraction assembly 100comprises a plurality of individual bidirectional air conveyor devices110. In various embodiments, bidirectional air conveyor devices 110 maybe mounted to a static mounting structure (such as a mounting frame)and/or to a dynamically movable structure such as an actuator, robot, orother form of positioning mechanism.

In some implementations, vacuum sorting system 10 further comprises atleast one object recognition device 162, which is utilized to captureinformation about objects on conveyor mechanism 50 in order to discernor distinguish target objects (shown at 55) from non-target objects. Insome embodiments, conveyor mechanism 50 transports materials past objectrecognition device 162 and towards bidirectional air conveyor devices110. In the example of FIG. 1 , conveyor mechanism 50 transports objectsalong the X-axis towards bidirectional air conveyor devices 110. Objectrecognition device 162 may comprise an image capturing device (such as,for example, an infrared camera, visual spectrum camera, non-visibleelectromagnetic radiation sensor, or some combination thereof) directedat conveyor mechanism 50. However, it should be understood that theimage capturing device for object recognition device 162 is presented asan example implementation. In other embodiments, object recognitiondevice 162 may comprise any other type of sensor that can detect and/ormeasure characteristics of objects on conveyor mechanism 50. Forexample, object recognition device 162 may utilize any form of a sensortechnology for detecting non-visible electromagnetic radiation (such asa hyperspectral camera, infrared, or ultraviolet), such as a magneticsensor; a capacitive sensor; or other sensors commonly used in the fieldof industrial automation. As such, the signal that is delivered tosorting control logic and electronics 160 from object recognition device162 may comprise, but is not necessarily, a visual image signal. In theexample shown in FIG. 1 , object recognition device 162 produces asignal that is delivered to sorting control logic and electronics 160and which may be used by sorting control logic and electronics 160 tosend airflow control signals to pneumatic control system 140. Inresponse to an airflow control signal, pneumatic control system 140 isconfigured to deliver pressurized air to at least a subset ofbidirectional air conveyor devices 110 to enable the at least subset ofbidirectional air conveyor devices to initiate material capture andejection actions.

As shown in FIG. 1A, in some embodiments, sorting control logic andelectronics 160 comprises one or more neural processing units 164,neural network parameter set 165 (which stores learned parametersutilized by neural processing units 164), and data storage 166 thatstores, for example, object data received from the object recognitiondevice 162, processed object data comprising labeled data, and/or mayfurther be used to store other data such as material characterizationdata generated by neural processing units 164. Neural network parameterset 165 and data storage 166 may either be implemented together on acommon physical non-transient memory device, or on separate physicalnon-transient memory devices. In some embodiments, data storage 166 maycomprise a removable storage media. In various embodiments, sortingcontrol logic and electronics 160 may be implemented using amicroprocessor coupled to a memory that is programmed to execute code tocarry out the functions of sorting control logic and electronics 160described herein. In other embodiments, sorting control logic andelectronics 160 may additionally, or alternately, be implemented usingan application specific integrated circuit (ASIC) or field programmablegate array (FPGA) that has been adapted for machine learning orcloud-based computing. In operation, in some embodiments, objectrecognition device 162 is directed towards conveyor mechanism 50 inorder to capture object information from an overhead view of thematerials being transported by conveyor mechanism 50. Object recognitiondevice 162 produces a signal that is delivered to sorting control logicand electronics 160.

In some embodiments, within sorting control logic and electronics 160,raw object data (which in the case of camera sensor may comprise imageframes, for example) is provided as input to one or more neural networkand artificial intelligence computer programs of neural processing units164 to locate and identify material appearing within the image framesthat are potentially target object 55. As the term is used herein, an“image frame” is intended to refer to a collection or collected set ofobject data captured by object recognition device 162 that may be usedto capture the spatial context of one or more potential target objectson conveyor mechanism 50 along with characteristics about the objectitself. A feed of image frames captured by object recognition device 162is fed, for example, to a machine learning inference computer programimplemented by neural processing units 164. The sequence of capturedimage frames may be processed by multiple processing layers, or neurons,of neural processing units 164 to evaluate the correlation of specificfeatures with features of objects that it has previously learned.Alternative computer programs to detect objects within an image includeFully Convolutional Neural Network, Multibox, Region-based FullyConvolutional Networks (R-FCN), Faster R-CNN, and other techniquescommonly known to those skilled in the art as object detection,instance-aware segmentation, or semantic segmentation computer programsdescribed in available literature.

Based on the input raw object data (e.g., image frames) that is providedby object recognition device 162, sorting control logic and electronics160 is configured to determine information related to target objectsthat are being transported by conveyor mechanism 50. In someembodiments, the information related to target objects that aredetermined by sorting control logic and electronics 160 includesattribute information. For example, attribute information includes oneor more of, but not limited to, the following: a material typeassociated with each target object, an approximate mass associated witheach target object, an approximate weight associated with each targetobject, an associated geometry associated with each target object,dimensions (e.g., height and width/area) associated with each targetobject, a designated deposit location associated with each targetobject, and an orientation associated with each target object. In someembodiments, the information related to target objects that aredetermined by sorting control logic and electronics 160 includeslocation information. For example, location information includes one ormore coordinates (e.g., along the X and Y axes as shown in FIG. 1 ) atwhich each target object was located in the image frame(s) that wereinput into sorting control logic and electronics 160. In a specificexample, the location information of each target object is thecoordinate of the centroid of the target object.

Using the attribute information and/or location information associatedwith each target object, sorting control logic and electronics 160 isconfigured to select at least a subset of bidirectional air conveyordevices 110 to use to perform a capture action on a target object. Invarious embodiments, performing a “capture action” on a target objectcomprises the use of one or more bidirectional air conveyor devices toemit a vacuum force/airflow that will pull a target object towards thebidirectional air conveyor device(s) and off of the conveyor mechanism.In some embodiments, sorting control logic and electronics 160 isconfigured to select one or more of bidirectional air conveyor devices110 to perform a capture action on a target object based on theattribute information associated with the target object and/or thelocation information associated with the target object. In a firstexample, a bidirectional air conveyor device is selected to perform acapture action on a target object because the diameter of the housing ofthe bidirectional air conveyor device is large enough to accommodate thedimensions (e.g., size, width, length, area) of the target object. In asecond example, a bidirectional air conveyor device is selected toperform a capture action on a target object because the duct or tubesconnected to the outlet port of the bidirectional air conveyor deviceleads to the correct deposit location to which (e.g., the material type)of the target object is to be deposited. In a third example, more thanone contiguous bidirectional air conveyor device is selected to performa capture action on a target object because the large dimensions (e.g.,size, width, length, area) of the target object cannot be accommodatedby the vacuum force of a single bidirectional air conveyor device. In afourth example, a bidirectional air conveyor device is selected toperform a capture action on a target object because the (e.g., static)position of the bidirectional air conveyor device is close to (e.g.,within a predetermined distance of) the position of the target object asthe target object approaches bidirectional air conveyor devices 110. Ina specific example, the Y-coordinate of the centroid of Target Object Ais determined by sorting control logic and electronics 160 to be at Y1of the Y-axis as shown in FIG. 1 as Target Object A is transported alongthe X-axis as shown in FIG. 1 . The bidirectional air conveyor devicethat is selected to perform a capture action on Target Object A may bethe statically positioned bidirectional air conveyor device ofbidirectional air conveyor devices 110 that is located at a Y-coordinatealong the Y-axis that is closest to Y1, which is the Y-coordinate ofTarget Object A.

After sorting control logic and electronics 160 selects which one ormore bidirectional air conveyor devices of bidirectional air conveyordevices 110 to perform a capture action on a corresponding targetobject, sorting control logic and electronics 160 is configured to causethe selected bidirectional air conveyor device(s) to perform the captureaction on the corresponding target object in response to a determinationthat the corresponding target object has met a set of capture criteria.In some embodiments, the set of capture criteria is that the currentlocation of the target object is within a predetermined distance withthe (e.g., static) location(s) of the selected bidirectional airconveyor device(s). For example, if the current (X, Y) coordinate of thecentroid of the target object is within a predetermined distance to the(X, Y) coordinate of the centroid of the selected bidirectional airconveyor device(s), then sorting control logic and electronics 160 isconfigured to send an airflow control signal to pneumatic control system140. In some embodiments, the set of capture criteria is that thecurrent location of the target object is aligned with the (e.g., static)location of the selected bidirectional air conveyor devices. The airflowcontrol signal is configured to instruct pneumatic control system 140 tosupply an airflow to a respective air input port of each selectedbidirectional air conveyor device, as will be described in furtherdetail below, where a corresponding airflow generator within eachselected bidirectional air conveyor device is configured to direct theairflow into a vacuum airflow/force that flows from the intake port tothe outlet port of each respective selected bidirectional air conveyordevice. The vacuum airflow that flows through each of the selectedbidirectional air conveyor device(s) will therefore enable a captureaction to be performed by the selected bidirectional air conveyor deviceby drawing the target object off of conveyor mechanism 50 and towardsthe selected bidirectional air conveyor devices. In some embodiments,the airflow control signal sent by sorting control logic and electronics160 is a variable control signal that includes a parameter that dictatesthe pressure of the airflow to be supplied by pneumatic control system140. The variable control signal will determine the pressure of theairflow and therefore, the amount of vacuum force that will be appliedto the target object. In some embodiments, sorting control logic andelectronics 160 is configured to instruct a static/fixed pressure forpneumatic airflow (and therefore, static vacuum force) for each captureaction. In some embodiments, sorting control logic and electronics 160is configured to dynamically determine a pressure of pneumatic airflowfor each capture action. For example, the pressure of the pneumaticairflow can be dynamically determined based at least in part on theweight or mass of the target object, the size of the target object, thematerial type of the target object, and the speed of conveyor mechanism50. If a capture action is successful, a target object is picked up offconveyor mechanism 50 by corresponding selected bidirectional airconveyor device(s).

Once a target object (e.g., such as target object 55) is removed fromconveyor mechanism 50, it passes through bidirectional air conveyordevices 110. In some embodiments, the target object may be transportedby a hood, hoses, ducts, or tubes 130 leading to a holding bin, tank,bunker, receptacle or other designated deposit location 135 whereextracted target objects 55 are deposited. The particular destinationfor items removed from conveyor mechanism 50 may depend upon whetherthey are contaminants or desired materials. In some embodiments,receptacle 135 may be adjacent to vacuum sorting system 10 while inothers, it may be remotely located away from vacuum sorting system 10.In some embodiments, receptacle 135 may comprise a cargo area of a truckor other vehicle so that removed target objects 55 are directly loadedonto the vehicle for transport. In some embodiments, the hood, hoses,ducts, or tubes 130 may include controllable valves or othercontrollable diverters that control the material flow of removed targetobjects 55 that have entered suction ducting 130 so that various objectdisposal locations (that is, multiple alternate receptacles 135) may beselected for any of the plurality of bidirectional air conveyor devices110. That is, ducting 130 may be configurable and reconfigurable usingthe controllable valves or other controllable diverters (by sortingcontrol logic and electronics 160 or other controller) such that targetobjects 55 extracted by one of bidirectional air conveyor devices 110 ofassembly 100 may be routed to a different receptacle 135 than targetobjects 55 extracted by another one of bidirectional air conveyordevices 110 of assembly 100. Moreover, if receptacle 135 is reachingfull capacity, ducting 130 may be re-configured to route extractedtarget objects 55 to a different receptacle.

It should be understood that in alternate implementations, bidirectionalair conveyor devices 110 may be positioned around conveyor mechanism 50in various arrangements or geometries. That is, in some embodiments,material extraction assembly 100 may comprise a single row ofbidirectional air conveyor devices 110 arranged in a line acrossconveyor mechanism 50 perpendicular with respect to the direction ofmaterial travel, such as shown in FIG. 1 . In other embodiments, such asshown in FIG. 1B and FIG. 1C, material extraction assembly 100 maycomprise a plurality of rows of bidirectional air conveyor devices 110,where bidirectional air conveyor devices 110 of one row are offset frombidirectional air conveyor devices 110 of another row so that materialthat passes between bidirectional air conveyor devices 110 may be betteraligned to the bidirectional air conveyor devices 110 of the next rowfor capture. As such sorting control logic and electronics 160 mayactuate bidirectional air conveyor device(s) 110 best aligned forcapturing a target object 55 (for example, based on the position oftarget object 55 on conveyor mechanism 50). However, it should also beunderstood that in some embodiments, material extraction assembly 100may comprise only a single bidirectional air conveyor device 110.Furthermore, the height of bidirectional air conveyor device(s) 110above conveyor mechanism 50 may be statically or dynamically adjustablewhen bidirectional air conveyor devices 110 are arranged over conveyormechanism 50. For example, if the objects to be transported by conveyormechanism 50 are anticipated or detected to be tall (e.g., of greaterheights relative to the surface of conveyor mechanism 50), thenbidirectional air conveyor devices 110 can be dynamically arranged to beat a greater height above conveyor mechanism 50 to provide moreclearance to the objects, to avoid objects hitting bidirectional airconveyor devices 110, and/or to prevent objects from cloggingbidirectional air conveyor devices 110. However, if the objects to betransported by conveyor mechanism 50 are anticipated or detected not tobe tall (e.g., of shorter heights relative to the surface of conveyormechanism 50), then bidirectional air conveyor devices 110 can bedynamically arranged to be at a shorter height above conveyor mechanism50 to provide less clearance to the objects. The height of bidirectionalair conveyor devices 110 over conveyor mechanism 50 may be one factor,among many, that is considered if/when the vacuum/suction force that isto be applied by bidirectional air conveyor devices 110 is dynamicallydetermined during a capture action for a particular target object.

Where material extraction assembly 100 does comprise a plurality ofbidirectional air conveyor devices 110, they need not be uniform insize. For example, material extraction assembly 100 may comprise one ormore bidirectional air conveyor devices 110 of a first size, and one ormore bidirectional air conveyor devices 110 of a second size. They alsoneed not be uniform in geometry. For example, sorting control logic andelectronics 160 may determine that target object 55 has a certaincharacteristic (for example, size, shape, orientation, material type orcomposition or any other characteristic discernible by sorting controllogic and electronics 160) and correlate that characteristic with aspecific one of bidirectional air conveyor devices 110 of materialextraction assembly 100 best suited for capturing objects having thatcharacteristic. One of bidirectional air conveyor devices 110 with widerdiameters may be selected to capture flexible materials like bags andsheets and one of bidirectional air conveyor devices 110 with smallerdiameters may be selected to capture more rigid objects. For example, anobject identified as being a disposable ground-coffee pod may beselected for extraction by one of bidirectional air conveyor devices 110of a first size, while a sheet of plastic wrap may be selected forextraction by bidirectional air conveyor devices 110 of a second size.In some embodiments, neural processing units 164 output one or morephysical object attributes determined by the one or more neuralprocessing units based on the object data for the one or more targetobjects appearing in captured image frames.

FIG. 2 is a diagram illustrating an example bidirectional air conveyordevice in accordance with some embodiments. In some embodiments, atleast some bidirectional air conveyor devices 110 of FIGS. 1, 1A, 1B,and 1C may be implemented with the example bidirectional air conveyordevice that is shown in FIG. 2 . In the example of FIG. 2 , thebidirectional air conveyor device comprises housing 202 that includesinternal through-passageway 203 through which captured target objects 55may be carried from intake port 204 of housing 202 to outlet port 206 ofhousing 202. In some embodiments, outlet port 206 may be coupled toducting 130 to transport captured target object 55 to receptacle 135. Insome embodiments, the bidirectional air conveyor device can be augmentedwith attachments 210 (e.g., such as a converging cone or a funnel), suchas but not limited to direct the airflow over a specific area or assistin guiding the material into the vacuum produced by the bidirectionalair conveyor device. Other attachments 210 may include, but are notlimited to, material shredders or material sorting features.

As shown in FIG. 2 , the bidirectional air conveyor device comprises atleast a pair of airflow generators (shown at 220 and 222). The first airflow generator, airflow generator 220, which may be referred to hereinas “object capture airflow generator” 220, generates a negative pressureairflow (i.e., a suction/vacuum air flow) into intake port 204 of thebidirectional air conveyor device. This airflow intake results in aforce of airflow (i.e., a vacuum or negative pressure force) into intakeport 204 that may be used to extract target object 55 from conveyormechanism 50 and lift it into internal through-passageway 203 of thebidirectional air conveyor device. The second airflow generator, airflowgenerator 222, which may be referred to herein as the “object ejectionairflow generator” 222, generates a positive pressure airflow outflowout from intake port 204 of the bidirectional air conveyor device. Thisairflow outflow results in a positive airflow force that flows throughinternal through-passageway 203 and out from intake port 204 that may beused to eject obstructions (i.e., non-target objects or lodged targetobjects) out from intake port 204 of the bidirectional air conveyordevice, or for other uses.

In some embodiments, each of first and second airflow generators 220,222 may incorporate the structure of a Venturi and/or Coanda basedtechnology, or similar technology, to generate their respectiveairflows. That is, the motive forces that create the airflows throughthe bidirectional air conveyor device are the result of a flow ofcompressed air streams supplied by air source 145 (for example, acompressed or pressurized air source) of pneumatic control system 140.As further discussed in detail below, coupling pressurized air inputport 221 of first airflow generator 220 to air source 145 will activatefirst airflow generator 220 to generate the negative pressure (e.g.,suction/vacuum) airflow into intake port 204. Coupling pressurized airinput port 223 of the second airflow generator 222 to pressurized airsource 145 will activate the second airflow generator 222 to generatethe positive pressure (e.g., ejection) airflow out of intake port 204.

FIG. 3 illustrates an interconnection of an example pneumatic controlsystem in accordance with some embodiments. In some embodiments,pneumatic control system 140 that is coupled to first and second airflowgenerators 220, 222 of one of bidirectional air conveyor devices 110 canhave interconnections such as shown in the example of FIG. 3 . Thepneumatic control system provides an air supply for selectivelyoperating and controlling both airflow generators 220 and 222 of onebidirectional air conveyor device of bidirectional air conveyor devices110. In alternate implementations, air source 145 may comprise a blower,an air compressor, a compressed air storage tank, or some combinationthereof. Although this disclosure may refer to “air” with regards to“airflow,” “air compressor,” and other elements, it should be understoodthat the term “air” is used in a generic sense to refer to anycompressible gas or mixture of gasses. It should also be understood thatthe terms “pressurized air” and “compressed air” are used hereinsynonymously and generally used to refer to air having a pressure thatis greater than atmospheric pressure as would be understood by one ofordinary skilled in the art.

In the example of FIG. 3 , the pneumatic control system comprisespneumatic switch 141 coupled to air source 145. Pneumatic switch 141 isalso coupled to sorting control logic and electronics 160 from which itreceives airflow control signal 161. In response to airflow controlsignal 161, in some embodiments, pneumatic switch 141 may directpressurized air to either pressurized air input port 221 of firstairflow generator 220, pressurized air input port 223 of second airflowgenerator 222, or may close the supply of pressurized air to both airinput ports 221, 223.

For example, in one example in operation, when object recognition device162 identifies target object 55 to remove from conveyor mechanism 50, afirst airflow control signal is sent by sorting control logic andelectronics 160 to pneumatic switch 141 to activate the supply ofcompressed air to first pressurized air input port 221 to activateobject capture airflow generator 220 of the bidirectional air conveyordevice. The timing of the airflow control signal sent by sorting controllogic and electronics 160 is controlled so that the activation of objectcapture airflow generator 220 occurs at a point in time where targetobject 55 has met a set of capture criteria (e.g., is aligned withand/or is within a predetermined distance) of the bidirectional airconveyor device that had been selected to perform a capture action onthat particular target object. During the capture action, the negativepressure (e.g., vacuum) force that is generated by object captureairflow generator 220 should be effectively strong enough to capturetarget object 55 by lifting target object 55 off of conveyor mechanism50. In some embodiments, while not shown in FIG. 1 , a selectedbidirectional air conveyor device may be repositioned to better alignwith target object 55 (e.g., along the X-axis and/or the Y-axis) tofacilitate a better capture action in cases where target object 55 mightotherwise not align with (e.g., pass directly under) the selectedbidirectional air conveyor device.

In the example of FIG. 3 , pressurized air input port 221 of objectcapture airflow generator 220 is coupled to a first pressurized airoutput port, pressurized air output port 142, of pneumatic switch 141.When pneumatic switch 141 receives the airflow control signal, an outputof first pressurized output port 142 is controlled to supply pressurizedair to pressurized air input port 221 of object capture airflowgenerator 220 of the bidirectional air conveyor device. In someembodiments, sorting control logic and electronics 160 may output abinary on/off control signal so that pneumatic switch 141 either turnsthe pressurized air to pressurized air input port 221 of object captureairflow generator 220 of the bidirectional air conveyor device on oroff. In other embodiments, sorting control logic and electronics 160 mayoutput a variable control signal to pneumatic switch 141, where thevariable control signal indicates an amount of pneumatic airflow to besupplied to pressurized air input port 221 of object capture airflowgenerator 220 of the bidirectional air conveyor device. In this way,sorting control logic and electronics 160 can variably control thenegative pressure (e.g., vacuum) force applied by the bidirectional airconveyor device to target object 55 during a capture action.

Also in the example shown in FIG. 3 , pressurized air input port 223 ofobject ejection airflow generator 222 may be coupled to secondcompressed air output port 143 of the pneumatic switch 141. When thecontrol signal from sorting control logic and electronics 160 insteadinstructs pneumatic switch 141 to activate object ejection airflowgenerator 222, pneumatic switch 141 controls output of second outputport 143 to supply pressurized air to pressurized air input port 223 ofobject ejection airflow generator 222 of the bidirectional air conveyordevice. In some embodiments, sorting control logic and electronics 160may output binary on/off control signal 161 so that pneumatic switch 141either turns the pressurized air to pressurized air input port 223 ofthe object ejection airflow generator 222 of the bidirectional airconveyor device on or off. In other embodiments, sorting control logicand electronics 160 may output a variable control signal to pneumaticswitch 141, wherein the variable control signal indicates an amount ofpneumatic airflow to be supplied to pressurized air input port 223 ofobject ejection airflow generator 222 of the bidirectional air conveyordevice. In this way, sorting control logic and electronics 160 canvariably control the ejection force applied by the bidirectional airconveyor device to eject an obstruction.

In some embodiments, while pneumatic switch 141 provides pressurized airto both air input ports 221 and 223 of the bidirectional air conveyordevice, pneumatic switch 141 does not control the direction or type ofpressure (e.g., positive or negative) of the airflow that flows throughthe bidirectional air conveyor device. Rather, a respective set ofphysical features (which are sometimes referred as an “airflowgenerator”) corresponding to each of air input ports 221 and 223 withinthe interior of the bidirectional air conveyor device is configured togenerate either a negative or positive pressure based on the suppliedpressurized air. Specifically, object capture airflow generator 220corresponding to air input port 221 is configured to generate a negativepressure airflow (e.g., to allow the bidirectional air conveyor deviceto perform a capture action) when pneumatic switch 141 is controlled tosupply pressurized air into air input port 221. Furthermore, objectejection airflow generator 222 corresponding to air input port 223 isconfigured to generate a positive pressure airflow (e.g., to ejectcontent out of the bidirectional air conveyor device) when pneumaticswitch 141 is controlled to supply pressurized air into air input port223, as will be described in further detail below.

While FIG. 3 shows a single pneumatic switch, pneumatic switch 141, thatis configured to supply pressurized air to both air input ports 221 and223 of the bidirectional air conveyor device, in some embodiments, aseparate pneumatic switch can supply pressurized air to each of airinput ports 221 and 223 of the bidirectional air conveyor device.

In some embodiments, each bidirectional air conveyor device ofbidirectional air conveyor devices 110 may comprise material obstructionsensor 150 (for example, at outlet port 206) that sends feedback signal151 to sorting control logic and electronics 160 to indicate when acollected item fully passes through the bidirectional air conveyordevice, or alternately, to indicate when a collected item has not fullypassed through the bidirectional air conveyor device (for example, whena target or non-target object has become an obstruction). Materialobstruction sensor 150 is not limited to any particular technology, andmay comprise, for example, a pressure sensor, airflow sensor, ultrasonicsensor, infrared sensor, image sensor, opacity sensor, or the like. Insome embodiments, material obstruction sensor 150 is used to detectwhether a capture action on target object 55 has been successful. Forexample, material obstruction sensor 150 can detect that a captureaction on target object 55 has been successful where materialobstruction sensor 150 determines that after a negative pressure (e.g.,vacuum) force is applied on target object 55, an obstruction (e.g.,target object 55 passing through the bidirectional air conveyor device)is detected but that the obstruction also disappears (e.g., targetobject 55 having left the bidirectional air conveyor device and throughducting 130). In some embodiments, when feedback signal 151 indicates asuccessful capture action where target object 55 has passed through thebidirectional air conveyor device, sorting control logic and electronics160 may respond with a control signal to operate pneumatic switch 141 todeactivate supplying pressurized air to object capture airflow generator220 via air input port 221. Alternatively, if material obstructionsensor 150 detects an obstruction, sorting control logic and electronics160 may respond with a control signal to operate pneumatic switch 141 todeactivate supplying pressurized air to object capture airflow generator220 via air input port 221, and instead activate supplying pressurizedair to object ejection airflow generator 222 via air input port 223 toeject the obstruction from the bidirectional air conveyor device using apositive pressure ejection airflow.

Although FIG. 3 illustrates pneumatic switch 141 as a three-stateswitch, it should be understood that the functions and operationsattributed to pneumatic switch 141 in this disclosure may be implementedin any number of ways. For example, pneumatic switch 141 may beimplemented using a combination of manifolds, controllable valves,and/or sets of pneumatic switches or other technology for selectivelycontrolling the distribution of compressed air. It should also beunderstood that activation and deactivation of either object captureairflow generator 220 or object ejection airflow generator 222 may also,in some embodiments, be controlled manually by an operator (eitherlocally or remotely) in addition to being controlled by sorting controllogic and electronics 160. In some embodiments, sorting control logicand electronics 160 may instead, or in addition, periodically activateobject ejection airflow generator 222 even in the absence of a detectedobstruction at the elapse of every ejection period (for example, every 5minutes) to purge the system of clogs or accumulating particulates. Instill other embodiments, multiple bidirectional air conveyor devices 110may be coupled to, and operated by pneumatic switch 141 at the same timein the manner described above. For example, manifolds, includingsolenoid actuated manifolds, may be used to distribute pressurized airfrom pneumatic switch 141 to multiple bidirectional air conveyor devices110.

FIGS. 4, 4A, 4B, 4C, and 4D are figures depicting cut-away views of anexample bidirectional air conveyor device. In some embodiments, at leastsome of bidirectional air conveyor devices of bidirectional air conveyordevices 110 can be implemented using the examples of FIGS. 4, 4A, 4B,4C, and 4D. FIG. 4 provides a cut-away side view illustrating theinternal structure of object capture airflow generator 220 and objectejection airflow generator 222. FIGS. 4A and 4B provide cross-sectionaltop views of object capture airflow generator 220 for cross-sections A-Aand B-B. FIGS. 4C and 4D provide cross-sectional top views of objectejection airflow generator 222 for cross-sections C-C and D-D.

With respect to object capture airflow generator 220, pressurized airinput port 221 is communicatively coupled to first high-pressure airdistribution ring 410 within housing 202 that at least partiallyencircles internal through-passageway 203. A plurality of air ejectornozzles (shown at 412) is coupled to the first high-pressure airdistribution ring 410 and positioned around the ring. Air ejectornozzles 412 are positioned to direct compressed air entering the firsthigh-pressure air distribution ring 410 (from pressurized air input port221) into internal through-passageway 203 in a direction away fromintake port 204 and towards outlet port 206. In some embodiments, atapered shape of air ejector nozzles 412 may be utilized to furthercompress the air ejected into internal through-passageway 203. The airenters internal through-passageway 203 at high speeds and rapidlyexpands upon entry to create a relative low pressure region withinhousing 202 of the bidirectional air conveyor device that draws anairflow in from intake port 204 and out from outlet port 206. Theorientation of air ejector nozzles 412, which direct the expandingcompressed air away from intake port 204 and towards outlet port 206,establishes the directionality of the airflow through the bidirectionalair conveyor device to be in from intake port 204 and out from outletport 206 so that materials (e.g., target objects 55) that are locatedbelow intake port 204 (e.g., on a conveyor mechanism) may becaptured/suctioned/vacuumed by the bidirectional air conveyor device.The force of the airflow generated by object capture airflow generator220 may be controlled as a function of the pressure and/or volume of airdelivered to pressurized air input port 221 and/or the design (e.g., thetaper) of air ejector nozzles 412, at least.

With respect to object ejector airflow generator 222, pressurized airinput port 223 is communicatively coupled to second high-pressure airdistribution ring 440 within housing 202 that at least partiallyencircles internal through-passageway 203. A plurality of air ejectornozzles (shown at 442) is coupled to the second high-pressure airdistribution ring 440 and positioned around the ring. Air ejectornozzles 442 are positioned to direct pressurized air entering the secondhigh-pressure air distribution ring 440 (from compressed air input port223) into internal through-passageway 203 in a direction towards intakeport 204 and away from outlet port 206. In some embodiments, a taperedshape of air ejector nozzles 442 may be utilized to further compress theair ejected into internal through-passageway 203. The air entersinternal through-passageway 203 at high speeds and rapidly expands uponentry to create a relative low pressure region within housing 202 of thebidirectional air conveyor device that draws an airflow in from outletport 206 and out from intake port 204. The orientation of air ejectornozzles 442 that directs the expanding compressed air away from outletport 206 and towards intake port 204 at a high velocity establishes thedirectionality of the airflow through the bidirectional air conveyordevice to be in from outlet port 206 and out from intake port 204 sothat obstructions may be ejected from the bidirectional air conveyordevice through intake port 204. The force of the airflow generated bythe object ejector airflow generator 222 may be controlled as a functionof the pressure and/or volume of air delivered to the compressed airinput port 223 and/or the design (e.g., the taper) of air ejectornozzles 442, at least.

It should be understood that the present disclosure expressly conveyswithin its scope alternative embodiments that may comprise objectcapture airflow generator 220, but not necessarily also comprise objectejection airflow generator 222. That is, any of the embodimentsdescribed herein may instead be for embodiments that comprise analternative unidirectional air conveyor device having object captureairflow generator 220, without object ejection airflow generator 222.

FIG. 5 is a flow diagram showing an embodiment of a process for using abidirectional air conveyor device to perform a capture action on atarget object. In some embodiments, process 500 is implemented bysorting control logic and electronics 160 of FIG. 1 .

At 502, an input signal is received from an object recognition device.In some embodiments, the input signal comprises one or more images ofobjects that are being transported on a conveyor mechanism.

At 504, the input signal is used to determine attribute informationassociated with a target object. In some embodiments, the input signalis input into a machine learning model that is trained to, at least,identify the material types of objects. For example, objects aredesignated as being “target objects” if they are identified to be of atarget material type and objects are designated as being “non-targetobjects” if they are identified to be of a material type that is not atarget material type. The output by the machine learning model includesattribute information such as one or more of, but not limited to, thefollowing: a material type associated with each target object, anapproximate mass associated with each target object, a geometryassociated with each target object, dimensions (e.g., height andwidth/area) associated with each target object, a designated depositlocation associated with each target object, and an orientationassociated with each target object. In some embodiments, the locationinformation of each target object that is identified in the input signalis also determined using the input signal. For example, locationinformation includes one or more coordinates at which each target objectwas located on the conveyor mechanism in the input signal.

At 506, based at least in part on the attribute information associatedwith the target object, an airflow control signal is sent to a pneumaticcontrol system, wherein the airflow control signal is configured tocause the pneumatic control system to supply an airflow to abidirectional air conveyor device, wherein the bidirectional airconveyor device is configured to cause the airflow to apply a suctionforce on the target object. In some embodiments, using the attributeinformation and/or location information of the target object, an airflowcontrol signal is sent to a pneumatic control system that is configuredto supply pressurized air to an air input port of a bidirectional airconveyor device of the vacuum sorting system. The supplied pressurizedair will be channeled into a negative pressure, vacuum/suction airflowthat will flow from the intake port of the bidirectional air conveyordevice to the outlet port of the bidirectional air conveyor device. Asthe target object is transported by the conveyor mechanism below thebidirectional air conveyor device, the generated vacuum/suction forcewill lift the target object off of the conveyor mechanism and towardsthe bidirectional air conveyor device. If the target object is smallenough, the target object will enter the housing of the bidirectionalair conveyor device and pass through the bidirectional air conveyordevice and into a ducting that will deposit the target object in areceptacle (e.g., associated with collecting objects of the materialtype associated with the target object). However, if the target objectis too large to pass through the bidirectional air conveyor device, thenthe target object may become adhered to the intake port (or acorresponding attachment such as a suction cup) until either thevacuum/suction force is deactivated and/or a positive pressure, ejectionforce is emitted from the bidirectional air conveyor device.

As described above, in the event of a detected obstruction or inresponse to the elapse of an ejection period, another airflow controlsignal is sent to the pneumatic control system to cause the pneumaticcontrol system to supply pressurized air to a second air input port ofthe bidirectional air conveyor device. The pressurized air that issupplied to this second air input port will be channeled into a positivepressure, ejection airflow that will flow from the outlet port of thebidirectional air conveyor device to the intake port of thebidirectional air conveyor device and eject any obstructions or debrisout of the bidirectional air conveyor device.

FIG. 6 is a flow diagram showing an example of a process for using abidirectional air conveyor device to perform a capture action on atarget object. In some embodiments, process 600 is implemented bysorting control logic and electronics 160 of FIG. 1 . In someembodiments, process 500 of FIG. 5 may be implemented using, at least inpart, process 600.

At 602, target object information including respective locations of oneor more target objects on a conveyor mechanism and respective attributesassociated with the one or more target objects are determined based atleast in part on an input signal. For example, based on one more imagesof objects that are being transported by a conveyor mechanism, thoseobjects that are target objects and their locations on the conveyormechanism are determined. The attributes of the target objects, such as,for example, the dimensions and material type of the target objects arealso determined.

At 604, at least a subset of a plurality of bidirectional air conveyordevices is selected to perform a capture action on a target object basedat least in part on the target object information. One or morebidirectional air conveyor devices are selected to perform a captureaction on at least one of the identified target objects. In someembodiments, the bidirectional air conveyor device(s) are selected for atarget object based on, for example: the location(s) of thebidirectional air conveyor device(s) over the conveyor mechanism, thelocation of the target object on the conveyor mechanism, theshape(s)/size(s) of the bidirectional air conveyor device(s), theshape/size of the target object, and/or the material type of the targetobject.

At 606, that a current location of the target object meets a set ofcapture criteria with respect to the selected at least subset of theplurality of bidirectional air conveyor devices is determined. In someembodiments, the set of capture criteria is that the current location ofthe target object (on the moving conveyor mechanism) is within apredetermined distance of the location(s) of the selected bidirectionalair conveyor device(s) and/or that the current location of the targetobject has become aligned (within a given margin of error) with thelocation(s) of the selected bidirectional air conveyor device(s).

At 608, the selected at least subset of the plurality of bidirectionalair conveyor devices is caused to perform the capture action on thetarget object. In response to the determination that the currentlocation of the target object has met the set of capture criteria, anairflow control signal is sent to a pneumatic control system to causethe pneumatic control system to supply pressurized air to a respectiveair input port of each of the selected bidirectional air conveyordevices. As described above, the supplied pressurized air will allow theselected bidirectional air conveyor devices to emit a vacuum/suctionforce that will lift the target object off of the conveyor mechanism andtowards the selected bidirectional air conveyor devices.

It should be understood that components, elements, and features of anyof the embodiments described herein may be used in combination.Moreover, it should be understood that in some embodiments, vacuumsorting system 10 may be used in combination or in conjunction withrobotic sorting systems such as those comprising suction grippers. Assuch, other embodiments are intended to include sorting systems that maycomprise both suction grippers and a vacuum extraction assembly asdescribed herein.

Although the foregoing embodiments have been described in some detailfor purposes of clarity of understanding, the invention is not limitedto the details provided. There are many alternative ways of implementingthe invention. The disclosed embodiments are illustrative and notrestrictive.

What is claimed is:
 1. A sorting system, comprising: an objectrecognition device configured to capture information about one or moreobjects; and a processor coupled to the object recognition device andconfigured to: receive an input signal from the object recognitiondevice; use the input signal to determine attribute informationassociated with a target object; and use the attribute informationassociated with the target object to send an airflow control signal to apneumatic control system, wherein the airflow control signal isconfigured to cause the pneumatic control system to supply an airflow toa bidirectional air conveyor device, wherein the bidirectional airconveyor device is configured to cause the airflow to apply a suctionforce on the target object.
 2. The sorting system of claim 1, whereinthe object recognition device comprises a camera and wherein the inputsignal comprises one or more images of the one or more objects, whereinthe one or more objects comprise the target object.
 3. The sortingsystem of claim 1, wherein the processor is further configured to selectthe bidirectional air conveyor device from a plurality of objectextraction devices based at least in part on the attribute informationassociated with the target object.
 4. The sorting system of claim 1,wherein the supplied airflow is to pull the target object through thebidirectional air conveyor device and into a transport duct to transportthe target object into a receptacle.
 5. The sorting system of claim 1,wherein the airflow control signal comprises a first airflow controlsignal, wherein the airflow comprises a first airflow, and wherein theprocessor is further configured to: receive a feedback signal from amaterial obstruction sensor; and in response to the feedback signal,send a second airflow control signal to the pneumatic control system,wherein the second airflow control signal is configured to cause thepneumatic control system to supply a second airflow to the bidirectionalair conveyor device, wherein the second supplied airflow is to eject anobstruction object out of the bidirectional air conveyor device.
 6. Thesorting system of claim 5, wherein the material obstruction sensorcomprises one or more of the following: a pressure sensor, an airflowsensor, an ultrasonic sensor, an infrared sensor, an image sensor, andan opacity sensor.
 7. The sorting system of claim 1, wherein the airflowcontrol signal comprises a first airflow control signal, wherein theprocessor is further configured to: receive a feedback signal from amaterial obstruction sensor; and in response to the feedback signal,send a second airflow control signal to the pneumatic control system,wherein the second airflow control signal is configured to cause thepneumatic control system to stop supplying a first airflow to thebidirectional air conveyor device.
 8. The sorting system of claim 7,wherein the material obstruction sensor comprises one or more of thefollowing: a pressure sensor, an airflow sensor, an ultrasonic sensor,an infrared sensor, an image sensor, and an opacity sensor.
 9. Thesorting system of claim 1, wherein the airflow control signal comprisesa first airflow control signal, wherein the airflow comprises a firstairflow, and wherein the processor is further configured to: receive afeedback signal from a material obstruction sensor; and in response tothe feedback signal: send a second airflow control signal to thepneumatic control system, wherein the second airflow control signal isconfigured to cause the pneumatic control system to stop supplying thefirst airflow to the bidirectional air conveyor device; and send a thirdairflow control signal to the pneumatic control system, wherein thethird airflow control signal is configured to cause the pneumaticcontrol system to supply a second airflow to the bidirectional airconveyor device, wherein the second airflow is to eject an obstructionobject out of the bidirectional air conveyor device.
 10. The sortingsystem of claim 1, wherein the airflow control signal comprises a firstairflow control signal, wherein the airflow comprises a first airflow,and wherein the processor is further configured to: receive anindication that an ejection period has elapsed; and in response to theindication, send a second airflow control signal to the pneumaticcontrol system, wherein the second airflow control signal is configuredto cause the pneumatic control system to supply a second airflow to thebidirectional air conveyor device, wherein the second airflow is toeject at least air out of an intake port of the bidirectional airconveyor device.
 11. The sorting system of claim 1, wherein theprocessor is further configured to: determine that a current location ofthe target object meets a set of capture criteria with respect to thebidirectional air conveyor device.
 12. A method, comprising: receivingan input signal from an object recognition device, wherein the objectrecognition device is configured to capture information about one ormore objects; using the input signal to determine attribute informationassociated with a target object; and using the attribute informationassociated with the target object to send an airflow control signal to apneumatic control system, wherein the airflow control signal isconfigured to cause the pneumatic control system to supply an airflow toa bidirectional air conveyor device, wherein the bidirectional airconveyor device is configured to cause the airflow to apply a suctionforce on the target object.
 13. The method of claim 12, wherein theobject recognition device comprises a camera and wherein the inputsignal comprises one or more images of the one or more objects, whereinthe one or more objects comprise the target object.
 14. The method ofclaim 12, further comprising selecting the bidirectional air conveyordevice from a plurality of object extraction devices based at least inpart on the attribute information associated with the target object. 15.The method of claim 12, wherein the supplied airflow is to pull thetarget object through the bidirectional air conveyor device and into atransport duct to transport the target object into a receptacle.
 16. Themethod of claim 12, wherein the airflow control signal comprises a firstairflow control signal, wherein the airflow comprises a first airflow,and further comprising: receiving a feedback signal from a materialobstruction sensor; and in response to the feedback signal, sending asecond airflow control signal to the pneumatic control system, whereinthe second airflow control signal is configured to cause the pneumaticcontrol system to supply a second airflow to the bidirectional airconveyor device, wherein the second supplied airflow is to eject anobstruction object out of the bidirectional air conveyor device.
 17. Themethod of claim 16, wherein the material obstruction sensor comprisesone or more of the following: a pressure sensor, airflow sensor,ultrasonic sensor, infrared sensor, image sensor, and opacity sensor.18. The method of claim 12, wherein the airflow control signal comprisesa first airflow control signal, and further comprising: receiving afeedback signal from a material obstruction sensor; and in response tothe feedback signal, sending a second airflow control signal to thepneumatic control system, wherein the second airflow control signal isconfigured to cause the pneumatic control system to stop supplying afirst airflow to the bidirectional air conveyor device.
 19. The methodof claim 18, wherein the material obstruction sensor comprises one ormore of the following: a pressure sensor, an airflow sensor, anultrasonic sensor, an infrared sensor, an image sensor, and an opacitysensor.
 20. The method of claim 12, wherein the airflow control signalcomprises a first airflow control signal, wherein the airflow comprisesa first airflow, and further comprising: receiving an indication that anejection period has elapsed; and in response to the indication, sendinga second airflow control signal to the pneumatic control system, whereinthe second airflow control signal is configured to cause the pneumaticcontrol system to supply a second airflow to the bidirectional airconveyor device, wherein the second airflow is to eject at least air outof an intake port of the bidirectional air conveyor device.